/*
 * Copyright 1997-2008 Sun Microsystems, Inc.  All Rights Reserved.
 * DO NOT ALTER OR REMOVE COPYRIGHT NOTICES OR THIS FILE HEADER.
 *
 * This code is free software; you can redistribute it and/or modify it
 * under the terms of the GNU General Public License version 2 only, as
 * published by the Free Software Foundation.  Sun designates this
 * particular file as subject to the "Classpath" exception as provided
 * by Sun in the LICENSE file that accompanied this code.
 *
 * This code is distributed in the hope that it will be useful, but WITHOUT
 * ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
 * FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License
 * version 2 for more details (a copy is included in the LICENSE file that
 * accompanied this code).
 *
 * You should have received a copy of the GNU General Public License version
 * 2 along with this work; if not, write to the Free Software Foundation,
 * Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA.
 *
 * Please contact Sun Microsystems, Inc., 4150 Network Circle, Santa Clara,
 * CA 95054 USA or visit www.sun.com if you need additional information or
 * have any questions.
 *
 */

package forward.Libraries.javax.vecmath;

/**
 * A four-element axis angle represented by double-precision floating point
 * x,y,z,angle components. An axis angle is a rotation of angle (radians) about
 * the vector (x,y,z).
 */
public class AxisAngle4d implements java.io.Serializable, Cloneable {

    // Compatible with 1.1
    static final long serialVersionUID = 3644296204459140589L;
    // Fixed to issue 538
    final static double EPS = 1.0e-12;
    /**
     * The x coordinate.
     */
    public double x;
    /**
     * The y coordinate.
     */
    public double y;
    /**
     * The z coordinate.
     */
    public double z;
    /**
     * The angle of rotation in radians.
     */
    public double angle;

    /**
     * Constructs and initializes an AxisAngle4d from the specified x, y, z, and
     * angle.
     *
     * @param x     the x coordinate
     * @param y     the y coordinate
     * @param z     the z coordinate
     * @param angle the angle of rotation in radians
     */
    public AxisAngle4d(double x, double y, double z, double angle) {
        this.x = x;
        this.y = y;
        this.z = z;
        this.angle = angle;
    }

    /**
     * Constructs and initializes an AxisAngle4d from the components contained in
     * the array.
     *
     * @param a the array of length 4 containing x,y,z,angle in order
     */
    public AxisAngle4d(double[] a) {
        this.x = a[0];
        this.y = a[1];
        this.z = a[2];
        this.angle = a[3];
    }

    /**
     * Constructs and initializes an AxisAngle4d from the specified AxisAngle4d.
     *
     * @param a1 the AxisAngle4d containing the initialization x y z angle data
     */
    public AxisAngle4d(AxisAngle4d a1) {
        this.x = a1.x;
        this.y = a1.y;
        this.z = a1.z;
        this.angle = a1.angle;
    }

    /**
     * Constructs and initializes an AxisAngle4d from the specified AxisAngle4f.
     *
     * @param a1 the AxisAngle4f containing the initialization x y z angle data
     */
    public AxisAngle4d(AxisAngle4f a1) {
        this.x = a1.x;
        this.y = a1.y;
        this.z = a1.z;
        this.angle = a1.angle;
    }

    /**
     * Constructs and initializes an AxisAngle4d from the specified axis and angle.
     *
     * @param axis  the axis
     * @param angle the angle of rotation in radian
     * @since vecmath 1.2
     */
    public AxisAngle4d(Vector3d axis, double angle) {
        this.x = axis.x;
        this.y = axis.y;
        this.z = axis.z;
        this.angle = angle;
    }

    /**
     * Constructs and initializes an AxisAngle4d to (0,0,1,0).
     */
    public AxisAngle4d() {
        this.x = 0.0;
        this.y = 0.0;
        this.z = 1.0;
        this.angle = 0.0;
    }

    /**
     * Sets the value of this axis angle to the specified x,y,z,angle.
     *
     * @param x     the x coordinate
     * @param y     the y coordinate
     * @param z     the z coordinate
     * @param angle the angle of rotation in radians
     */
    public final void set(double x, double y, double z, double angle) {
        this.x = x;
        this.y = y;
        this.z = z;
        this.angle = angle;
    }

    /**
     * Sets the value of this axis angle to the specified x,y,z,angle.
     *
     * @param a the array of length 4 containing x,y,z,angle in order
     */
    public final void set(double[] a) {
        this.x = a[0];
        this.y = a[1];
        this.z = a[2];
        this.angle = a[3];
    }

    /**
     * Sets the value of this axis angle to the value of axis angle a1.
     *
     * @param a1 the axis angle to be copied
     */
    public final void set(AxisAngle4d a1) {
        this.x = a1.x;
        this.y = a1.y;
        this.z = a1.z;
        this.angle = a1.angle;
    }

    /**
     * Sets the value of this axis angle to the value of axis angle a1.
     *
     * @param a1 the axis angle to be copied
     */
    public final void set(AxisAngle4f a1) {
        this.x = a1.x;
        this.y = a1.y;
        this.z = a1.z;
        this.angle = a1.angle;
    }

    /**
     * Sets the value of this AxisAngle4d to the specified axis and angle.
     *
     * @param axis  the axis
     * @param angle the angle of rotation in radians
     * @since vecmath 1.2
     */
    public final void set(Vector3d axis, double angle) {
        this.x = axis.x;
        this.y = axis.y;
        this.z = axis.z;
        this.angle = angle;
    }

    /**
     * Gets the value of this axis angle and places it into the array a of length
     * four in x,y,z,angle order.
     *
     * @param a the array of length four
     */
    public final void get(double[] a) {
        a[0] = this.x;
        a[1] = this.y;
        a[2] = this.z;
        a[3] = this.angle;
    }

    /**
     * Sets the value of this axis-angle to the rotational component of the passed
     * matrix. If the specified matrix has no rotational component, the value of
     * this AxisAngle4d is set to an angle of 0 about an axis of (0,1,0).
     *
     * @param m1 the matrix4f
     */
    public final void set(Matrix4f m1) {
        Matrix3d m3d = new Matrix3d();

        m1.get(m3d);

        x = (float) (m3d.m21 - m3d.m12);
        y = (float) (m3d.m02 - m3d.m20);
        z = (float) (m3d.m10 - m3d.m01);
        double mag = x * x + y * y + z * z;

        if (mag > EPS) {
            mag = Math.sqrt(mag);
            double sin = 0.5 * mag;
            double cos = 0.5 * (m3d.m00 + m3d.m11 + m3d.m22 - 1.0);

            angle = (float) Math.atan2(sin, cos);

            double invMag = 1.0 / mag;
            x = x * invMag;
            y = y * invMag;
            z = z * invMag;
        } else {
            x = 0.0f;
            y = 1.0f;
            z = 0.0f;
            angle = 0.0f;
        }
    }

    /**
     * Sets the value of this axis-angle to the rotational component of the passed
     * matrix. If the specified matrix has no rotational component, the value of
     * this AxisAngle4d is set to an angle of 0 about an axis of (0,1,0).
     *
     * @param m1 the matrix4d
     */
    public final void set(Matrix4d m1) {
        Matrix3d m3d = new Matrix3d();

        m1.get(m3d);

        x = (float) (m3d.m21 - m3d.m12);
        y = (float) (m3d.m02 - m3d.m20);
        z = (float) (m3d.m10 - m3d.m01);

        double mag = x * x + y * y + z * z;

        if (mag > EPS) {
            mag = Math.sqrt(mag);

            double sin = 0.5 * mag;
            double cos = 0.5 * (m3d.m00 + m3d.m11 + m3d.m22 - 1.0);
            angle = (float) Math.atan2(sin, cos);

            double invMag = 1.0 / mag;
            x = x * invMag;
            y = y * invMag;
            z = z * invMag;
        } else {
            x = 0.0f;
            y = 1.0f;
            z = 0.0f;
            angle = 0.0f;
        }
    }

    /**
     * Sets the value of this axis-angle to the rotational component of the passed
     * matrix. If the specified matrix has no rotational component, the value of
     * this AxisAngle4d is set to an angle of 0 about an axis of (0,1,0).
     *
     * @param m1 the matrix3f
     */
    public final void set(Matrix3f m1) {
        x = (float) (m1.m21 - m1.m12);
        y = (float) (m1.m02 - m1.m20);
        z = (float) (m1.m10 - m1.m01);
        double mag = x * x + y * y + z * z;

        if (mag > EPS) {
            mag = Math.sqrt(mag);

            double sin = 0.5 * mag;
            double cos = 0.5 * (m1.m00 + m1.m11 + m1.m22 - 1.0);
            angle = (float) Math.atan2(sin, cos);

            double invMag = 1.0 / mag;
            x = x * invMag;
            y = y * invMag;
            z = z * invMag;
        } else {
            x = 0.0f;
            y = 1.0f;
            z = 0.0f;
            angle = 0.0f;
        }
    }

    /**
     * Sets the value of this axis-angle to the rotational component of the passed
     * matrix. If the specified matrix has no rotational component, the value of
     * this AxisAngle4d is set to an angle of 0 about an axis of (0,1,0).
     *
     * @param m1 the matrix3d
     */
    public final void set(Matrix3d m1) {
        x = (float) (m1.m21 - m1.m12);
        y = (float) (m1.m02 - m1.m20);
        z = (float) (m1.m10 - m1.m01);

        double mag = x * x + y * y + z * z;

        if (mag > EPS) {
            mag = Math.sqrt(mag);

            double sin = 0.5 * mag;
            double cos = 0.5 * (m1.m00 + m1.m11 + m1.m22 - 1.0);

            angle = (float) Math.atan2(sin, cos);

            double invMag = 1.0 / mag;
            x = x * invMag;
            y = y * invMag;
            z = z * invMag;
        } else {
            x = 0.0f;
            y = 1.0f;
            z = 0.0f;
            angle = 0.0f;
        }

    }

    /**
     * Sets the value of this axis-angle to the rotational equivalent of the passed
     * quaternion. If the specified quaternion has no rotational component, the
     * value of this AxisAngle4d is set to an angle of 0 about an axis of (0,1,0).
     *
     * @param q1 the Quat4f
     */
    public final void set(Quat4f q1) {
        double mag = q1.x * q1.x + q1.y * q1.y + q1.z * q1.z;

        if (mag > EPS) {
            mag = Math.sqrt(mag);
            double invMag = 1.0 / mag;

            x = q1.x * invMag;
            y = q1.y * invMag;
            z = q1.z * invMag;
            angle = 2.0 * Math.atan2(mag, q1.w);
        } else {
            x = 0.0f;
            y = 1.0f;
            z = 0.0f;
            angle = 0.0f;
        }
    }

    /**
     * Sets the value of this axis-angle to the rotational equivalent of the passed
     * quaternion. If the specified quaternion has no rotational component, the
     * value of this AxisAngle4d is set to an angle of 0 about an axis of (0,1,0).
     *
     * @param q1 the Quat4d
     */
    public final void set(Quat4d q1) {
        double mag = q1.x * q1.x + q1.y * q1.y + q1.z * q1.z;

        if (mag > EPS) {
            mag = Math.sqrt(mag);
            double invMag = 1.0 / mag;

            x = q1.x * invMag;
            y = q1.y * invMag;
            z = q1.z * invMag;
            angle = 2.0 * Math.atan2(mag, q1.w);
        } else {
            x = 0.0f;
            y = 1.0f;
            z = 0.0f;
            angle = 0f;
        }
    }

    /**
     * Returns a string that contains the values of this AxisAngle4d. The form is
     * (x,y,z,angle).
     *
     * @return the String representation
     */
    @Override
    public String toString() {
        return "(" + this.x + ", " + this.y + ", " + this.z + ", " + this.angle + ")";
    }

    /**
     * Returns true if all of the data members of AxisAngle4d a1 are equal to the
     * corresponding data members in this AxisAngle4d.
     *
     * @param a1 the axis-angle with which the comparison is made
     * @return true or false
     */
    public boolean equals(AxisAngle4d a1) {
        try {
            return (this.x == a1.x && this.y == a1.y && this.z == a1.z && this.angle == a1.angle);
        } catch (NullPointerException e2) {
            return false;
        }

    }

    /**
     * Returns true if the Object o1 is of type AxisAngle4d and all of the data
     * members of o1 are equal to the corresponding data members in this
     * AxisAngle4d.
     *
     * @param o1 the object with which the comparison is made
     * @return true or false
     */
    @Override
    public boolean equals(Object o1) {
        try {
            AxisAngle4d a2 = (AxisAngle4d) o1;
            return (this.x == a2.x && this.y == a2.y && this.z == a2.z && this.angle == a2.angle);
        } catch (NullPointerException e2) {
            return false;
        } catch (ClassCastException e1) {
            return false;
        }

    }

    /**
     * Returns true if the L-infinite distance between this axis-angle and
     * axis-angle a1 is less than or equal to the epsilon parameter, otherwise
     * returns false. The L-infinite distance is equal to MAX[abs(x1-x2),
     * abs(y1-y2), abs(z1-z2), abs(angle1-angle2)].
     *
     * @param a1      the axis-angle to be compared to this axis-angle
     * @param epsilon the threshold value
     */
    public boolean epsilonEquals(AxisAngle4d a1, double epsilon) {
        double diff;

        diff = x - a1.x;
        if ((diff < 0 ? -diff : diff) > epsilon)
            return false;

        diff = y - a1.y;
        if ((diff < 0 ? -diff : diff) > epsilon)
            return false;

        diff = z - a1.z;
        if ((diff < 0 ? -diff : diff) > epsilon)
            return false;

        diff = angle - a1.angle;
        if ((diff < 0 ? -diff : diff) > epsilon)
            return false;

        return true;
    }

    /**
     * Returns a hash code value based on the data values in this object. Two
     * different AxisAngle4d objects with identical data values (i.e.,
     * AxisAngle4d.equals returns true) will return the same hash code value. Two
     * objects with different data members may return the same hash value, although
     * this is not likely.
     *
     * @return the integer hash code value
     */
    @Override
    public int hashCode() {
        long bits = 1L;
        bits = VecMathUtil.hashDoubleBits(bits, x);
        bits = VecMathUtil.hashDoubleBits(bits, y);
        bits = VecMathUtil.hashDoubleBits(bits, z);
        bits = VecMathUtil.hashDoubleBits(bits, angle);
        return VecMathUtil.hashFinish(bits);
    }

    /**
     * Creates a new object of the same class as this object.
     *
     * @return a clone of this instance.
     * @throws OutOfMemoryError if there is not enough memory.
     * @see java.lang.Cloneable
     * @since vecmath 1.3
     */
    @Override
    public Object clone() {
        // Since there are no arrays we can just use Object.clone()
        try {
            return super.clone();
        } catch (CloneNotSupportedException e) {
            // this shouldn't happen, since we are Cloneable
            throw new InternalError();
        }
    }

    /**
     * Get the axis angle, in radians.<br>
     * An axis angle is a rotation angle about the vector (x,y,z).
     *
     * @return the angle, in radians.
     * @since vecmath 1.5
     */
    public final double getAngle() {
        return angle;
    }

    /**
     * Set the axis angle, in radians.<br>
     * An axis angle is a rotation angle about the vector (x,y,z).
     *
     * @param angle The angle to set, in radians.
     * @since vecmath 1.5
     */
    public final void setAngle(double angle) {
        this.angle = angle;
    }

    /**
     * Get value of <i>x</i> coordinate.
     *
     * @return the <i>x</i> coordinate.
     * @since vecmath 1.5
     */
    public double getX() {
        return x;
    }

    /**
     * Set a new value for <i>x</i> coordinate.
     *
     * @param x the <i>x</i> coordinate.
     * @since vecmath 1.5
     */
    public final void setX(double x) {
        this.x = x;
    }

    /**
     * Get value of <i>y</i> coordinate.
     *
     * @return the <i>y</i> coordinate.
     * @since vecmath 1.5
     */
    public final double getY() {
        return y;
    }

    /**
     * Set a new value for <i>y</i> coordinate.
     *
     * @param y the <i>y</i> coordinate.
     * @since vecmath 1.5
     */
    public final void setY(double y) {
        this.y = y;
    }

    /**
     * Get value of <i>z</i> coordinate.
     *
     * @return the <i>z</i> coordinate.
     * @since vecmath 1.5
     */
    public double getZ() {
        return z;
    }

    /**
     * Set a new value for <i>z</i> coordinate.
     *
     * @param z the <i>z</i> coordinate.
     * @since vecmath 1.5
     */
    public final void setZ(double z) {
        this.z = z;
    }

}
